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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::recognition::ModelLibrary类 参考</div>  </div>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores some information about the model.  <a href="classpcl_1_1recognition_1_1_model_library_1_1_model.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef std::list&lt; std::pair&lt; const <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a> *, const <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a> * &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>node_data_pair_list</b></td></tr>
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typedef std::map&lt; const <a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> *, node_data_pair_list &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>HashTableCell</b></td></tr>
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typedef <a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html">VoxelStructure</a>&lt; HashTableCell, float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>HashTable</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#a9f6369009e0fe37f37b42378218a9cdf">ModelLibrary</a> (float pair_width, float voxel_size, float max_coplanarity_angle=3.0f *AUX_DEG_TO_RADIANS)</td></tr>
<tr class="memdesc:a9f6369009e0fe37f37b42378218a9cdf"><td class="mdescLeft">&#160;</td><td class="mdescRight">This class is used by '<a class="el" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html" title="This is a RANSAC-based 3D object recognition method. Do the following to use it: (i) call addModel() ...">ObjRecRANSAC</a>' to maintain the object models to be recognized. Normally, you do not need to use this class directly. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#a890931079e5faecb760b827412d252e0">removeAllModels</a> ()</td></tr>
<tr class="memdesc:a890931079e5faecb760b827412d252e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all models from the library and clears the hash table. <br /></td></tr>
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<tr class="memitem:aa52dac576d8c993c2158ce11054738f0"><td class="memItemLeft" align="right" valign="top"><a id="aa52dac576d8c993c2158ce11054738f0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#aa52dac576d8c993c2158ce11054738f0">setMaxCoplanarityAngleDegrees</a> (float max_coplanarity_angle_degrees)</td></tr>
<tr class="memdesc:aa52dac576d8c993c2158ce11054738f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is a threshold. The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#af5bcb4aae8b9f458c043b10c9b262c47">ignoreCoplanarPointPairsOn</a> ()</td></tr>
<tr class="memdesc:af5bcb4aae8b9f458c043b10c9b262c47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Call this method in order NOT to add co-planar point pairs to the hash table. The default behavior is ignoring co-planar points on. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#aa87124fd7054fae1807b15cca036d789">ignoreCoplanarPointPairsOff</a> ()</td></tr>
<tr class="memdesc:aa87124fd7054fae1807b15cca036d789"><td class="mdescLeft">&#160;</td><td class="mdescRight">Call this method in order to add all point pairs (co-planar as well) to the hash table. The default behavior is ignoring co-planar points on. <br /></td></tr>
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<tr class="memitem:ab353079625ae227317aae965fb1d6879"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#ab353079625ae227317aae965fb1d6879">addModel</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;points, const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudN</a> &amp;normals, const std::string &amp;object_name, float frac_of_points_for_registration, void *user_data=NULL)</td></tr>
<tr class="memdesc:ab353079625ae227317aae965fb1d6879"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a model to the hash table.  <a href="classpcl_1_1recognition_1_1_model_library.html#ab353079625ae227317aae965fb1d6879">更多...</a><br /></td></tr>
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const <a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html">HashTable</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#ad30f9438e1c3662aab0da4b1c884e022">getHashTable</a> () const</td></tr>
<tr class="memdesc:ad30f9438e1c3662aab0da4b1c884e022"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the hash table built by this instance. <br /></td></tr>
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const <a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getModel</b> (const std::string &amp;name) const</td></tr>
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const std::map&lt; std::string, <a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> * &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getModels</b> () const</td></tr>
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Protected 成员函数</h2></td></tr>
<tr class="memitem:a60462d8c56de748a5452f34c8b6b4c08"><td class="memItemLeft" align="right" valign="top"><a id="a60462d8c56de748a5452f34c8b6b4c08"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#a60462d8c56de748a5452f34c8b6b4c08">clear</a> ()</td></tr>
<tr class="memdesc:a60462d8c56de748a5452f34c8b6b4c08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all models from the library and destroys the hash table. This method should be called upon destroying this object. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_model_library.html#ab049897dbe5752ac851fb15d796e0601">addToHashTable</a> (<a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> *model, const <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a> *data1, const <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a> *data2)</td></tr>
<tr class="memdesc:ab049897dbe5752ac851fb15d796e0601"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the oriented point pair was added to the hash table and false otherwise. <br /></td></tr>
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Protected 属性</h2></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>pair_width_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_size_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>max_coplanarity_angle_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>ignore_coplanar_opps_</b></td></tr>
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std::map&lt; std::string, <a class="el" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>models_</b></td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html">HashTable</a>&#160;</td><td class="memItemRight" valign="bottom"><b>hash_table_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>num_of_cells_</b> [3]</td></tr>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ab353079625ae227317aae965fb1d6879">&#9670;&nbsp;</a></span>addModel()</h2>

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          <td class="memname">bool pcl::recognition::ModelLibrary::addModel </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>points</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudN</a> &amp;&#160;</td>
          <td class="paramname"><em>normals</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
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          <td class="paramtype">float&#160;</td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&#160;</td>
          <td class="paramname"><em>user_data</em> = <code>NULL</code>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Adds a model to the hash table. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">points</td><td>represents the model to be added. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>are the normals at the model points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">object_name</td><td>is the unique name of the object to be added. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">frac_of_points_for_registration</td><td>is the number of points used for fast ICP registration prior to hypothesis testing </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">user_data</td><td>is a pointer to some data (can be NULL)</td></tr>
  </table>
  </dd>
</dl>
<p>Returns true if model successfully added and false otherwise (e.g., if object_name is not unique). </p>

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